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ADIS16489 Datasheet(PDF) 20 Page - Analog Devices

Part # ADIS16489
Description  Seven Degrees of Freedom Inertial Sensor
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Manufacturer  AD [Analog Devices]
Direct Link  http://www.analog.com
Logo AD - Analog Devices

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ADIS16489
Data Sheet
Rev. B | Page 20 of 40
Table 54. BAROM_OUT Register Definition
Page
Addresses
Default
Access
Flash Backup
0x00
0x30, 0x31
Not applicable
R
No
Table 55. BAROM_OUT Bit Definitions
Bits
Description
[15:0]
Barometer data; high word; twos complement, ±1.31
range; 0 bar = 0x0000, 1 LSB = 40μbar
The BAROM_LOW (see Table 52 and Table 53) and BAROM_
OUT (see Table 54 and Table 55) registers contain the barometer
data.
Barometer Resolution
Table 56 and Table 57 offer various numerical examples that
demonstrate the format of the pressure (barometer) data in
both 16-bit and 32-bit formats.
Table 56. 16-Bit Barometer Data Format Examples
Pressure
Decimal
Hex
Binary
+1.31068 bar
+32767
0x3FFF
0111 1111 1111 1111
+80 μbar
+2
0x0002
0000 0000 0000 0010
+40 μbar
+1
0x0001
0000 0000 0000 0001
0
0
0x0000
0000 0000 0000 0000
−40 μbar
−1
0xFFFF
1111 1111 1111 1111
−80 μbar
−2
0xFFFE
1111 1111 1111 1110
−1.31072
−32768
0x4000
1000 0000 0000 0000
Table 57. 32-Bit Barometer Data Format Examples
Pressure
Decimal
Hex
+1.31068 bar
+4,294,967,295
0x3FFFFFFF
+80 μbar ÷ 216
+2
0x00000002
+40 μbar ÷ 216
+1
0x00000001
0
0
0x00000000
−40 μbar ÷ 216
−1
0xFFFFFFFF
−80 μbar ÷ 216
−2
0xFFFFFFFE
−1.31072
−4,294,967,296
0x40000000
DELTA ANGLES
In addition to the angular rate of rotation (gyroscope) measure-
ments around each axis (x, y, and z), the ADIS16489 also provides
delta angle measurements that represent a computation of
angular displacement between each sample update.
PIN 1
PIN 23
ΔΘY
Y-AXIS
ΔΘX
X-AXIS
Z-AXIS
ΔΘZ
Figure 23. Delta Angle Axis and Polarity Assignments
The delta angle outputs represent an integration of the gyro-
scope measurements and use the following formula for all three
axes (x-axis displayed):
(
)
,
,,
D
x nD
x nD d
x nD d
d
S
f
θ
ωω
+
+−
=
=
×
+
1
1
0
1
2
where:
D is the decimation rate = DEC_RATE + 1 (see Table 159).
fS is the sample rate.
d is the incremental variable in the summation formula.
ωx is the x-axis rate of rotation (gyroscope).
n is the sample time, prior to the decimation filter.
When using the internal sample clock, fS is equal to 2460 SPS.
When using the external clock option, fS is equal to the frequency
of the external clock. The external clock frequency must be at least
700 Hz to prevent overflow in the delta angle data registers at
high rotation rates.
Each axis of the delta angle measurements has two output data
registers. Figure 24 illustrates how these two registers combine
to support a 32-bit, twos complement data format for the x-axis
delta angle measurements. This format also applies to the y-
and x-axes as well.
X-AXIS DELTA ANGLE DATA
0 15
15
0
X_DELTANG_OUT
X_DELTANG_LOW
Figure 24. Delta Angle Output Data Structure
X-Axis Delta Angle (X_DELTANG_LOW, X_DELTANG_OUT)
Table 58. X_DELTANG_LOW Register Definitions
Page
Addresses
Default
Access
Flash Backup
0x00
0x40, 0x41
Not applicable
R
No
Table 59. X_DELTANG_LOW Bit Definitions
Bits
Description
[15:0]
X-axis delta angle data; low word
Table 60. X_DELTANG_OUT Register Definitions
Page
Addresses
Default
Access
Flash Backup
0x00
0x42, 0x43
Not applicable
R
No
Table 61. X_DELTANG_OUT Bit Definitions
Bits
Description
[15:0]
X-axis delta angle data; twos complement, ±720° range,
0° = 0x0000, 1 LSB = 720°/215 = ~0.022°
The X_DELTANG_LOW (see Table 58 and Table 59) and
X_DELTANG_OUT (see Table 60 and Table 61) registers
contain the delta angle data for the x-axis.


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